Essentially, you are making a nice internal API to your engine objects that you can manipulate, and experiment with, on a higher level without recompiling your application all the time. Python is also nice for this purpose (see OGRE 3D), but it's not as lightweight as Lua.
So in a sense, it's better to use Lua for parts of your engine that will change a lot, depending on what aspect of the engine you are a focusing on at the moment (like tweaking how the enemy A.I. works, for example). This is especially useful at the prototype stage of your application.
Is that what you had in mind, or am I mistaken?
http://www.techworld.com.au/article/260022/-z_programming_la...
We needed an easy-to-use configuration language, and the only configuration language available at that time (1993) was Tcl. Our users did not consider Tcl an easy-to-use language. So we created our own configuration language.
Given how different Lua ended up, though, I imagine there was more to it than that.